Kinematic articulatory data are important for researches of speech production, articulatory speech synthesis, robust speech recognition, and speech inversion. Electromagnetic Articulograph (EMA) is a widely used instrument for collecting kinematic articulatory data. However, in EMA experiment, one or more coils attached to articulators are possible to be mistracked due to various reasons. To ma...

We describe a parametric synthesis algorithm for planar mechanical systems comprised of higher kinematic pairs in which each part lmnslates along a fixed axis or rotales around a fixed point. Kinematic function is computed from the CAD models of the parts and is represented graphically as configuration spaces. The designer uses the mouse to request changes in the configuration spaces. The progm...

Designing a movable spatial four-bar mechanism that guides a coupler system through three given poses is an old and well known problem. The resulting mechanism has to be overconstrained and is called Bennett mechanism. We give a completely new solution of this problem using kinematic mapping and multidimensional geometry. This approach provides a new insight in the problem. First of all it show...

Error analysis is an important issue in parallel kinematic synthesis because manufacturing and assembly errors have a significant impact on the mechanical precision of the manipulator. In this paper we propose a method to describe the displacements of the tool center point (TCP) in terms of error amplifications for uncertainties in all kinematic parameters. This is done by using the differentia...

Error analysis is an important issue in parallel kinematic synthesis because manufacturing and assembly errors have a significant impact on the mechanical precision of the manipulator. In this paper we propose a method to describe the displacements of the tool center point (TCP) in terms of error amplifications for uncertainties in all kinematic parameters. This is done by using the differentia...

We describe a parametric synthesis algorithm for planar mechanical systems comprised of higher kinematic pairs in which each part lmnslates along a fixed axis or rotales around a fixed point. Kinematic function is computed from the CAD models of the parts and is represented graphically as configuration spaces. The designer uses the mouse to request changes in the configuration spaces. The progm...

This work is a synthesis of our experience over parallel kinematic machine control, which aims at changing the standard conceptual approach to this problem. Indeed, since the task space, the state space and the measurement space can coincide in this class of mechanism, we came to redefine the complete modeling, identification and control methodology. Thus, it is shown in this paper that, generi...

SUMMARY Mobility is a fundamental parameter of mechanisms expressing in a qualitative manner their kinematic and dynamic properties. The mobility formulae presented in literature take into consideration some of the structural entities, such as bodies, joints, constraints, closed loops, and space characteristics; however, the specific mechanical model that has traditionally been at the origin of...